CN211376994U - Charging device joint for inspection robot - Google Patents
Charging device joint for inspection robot Download PDFInfo
- Publication number
- CN211376994U CN211376994U CN202020289488.5U CN202020289488U CN211376994U CN 211376994 U CN211376994 U CN 211376994U CN 202020289488 U CN202020289488 U CN 202020289488U CN 211376994 U CN211376994 U CN 211376994U
- Authority
- CN
- China
- Prior art keywords
- passive
- joint
- male
- mounting plate
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 25
- 239000002184 metal Substances 0.000 claims description 7
- 229910052751 metal Inorganic materials 0.000 claims description 7
- 238000009413 insulation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 230000036544 posture Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a charging device joint for an inspection robot, which is a serial-type passive joint structure and consists of a charging device male head and a charging device female head, wherein the charging device male head consists of a first passive adjusting mechanism, a second passive adjusting mechanism, a third passive adjusting mechanism and a male head, and the charging device female head consists of a female head mounting plate and a female head assembly; the male mounting plate is provided with a conical guide device; the male head anode is arranged in the center of the front surface of the male head mounting plate, and the male head cathode is arranged in the groove of the front surface of the male head mounting plate; the female head is provided with the conical guide device, the conical guide device can be matched with the conical guide device on the male head mounting plate of the male head to adapt to the relative pose change of the power transmission line inspection robot and the charging device within a certain range, and the female head has the characteristics of strong adaptability, simple structure, no need of driving, convenience in connection and high reliability, and has wide application prospect.
Description
Technical Field
The utility model relates to a charging device connects, and specifically speaking is a charging device connects for patrolling and examining robot.
Background
The robot is adopted to replace manual inspection, so that the inspection efficiency can be improved, the inspection effect can be improved, the labor intensity can be reduced, the safety of personnel can be guaranteed, and the inspection robot has a wide application prospect in the power industry. At present, most of electric power inspection robots adopt a mobile robot as a carrier and carry detection equipment such as a visible light camera and an infrared imager to inspect an electric power circuit. Overhead transmission line patrols and examines robot and generally adopts wheel arm combined type structure, and the walking wheel on the arm is hung and is walked and detect the task on overhead earth wire. Because the overhead transmission line inspection robot works on a semi-structured high-altitude line, the battery capacity carried by the robot is limited, and the working time of the robot is limited, so that the necessity of improving the cruising ability of the robot by adopting certain measures is realized. The charging device is arranged on the power transmission iron tower, and the robot can finish on-line charging on a line, so that the endurance of the robot can be better realized.
However, the power transmission line is an unstructured environment, and the robot is influenced by wind in high altitude, so that when the robot stops at a charging position, the relative pose of the robot and the charging device has a certain change, which causes difficulty in aligning the joints and charging the robot during online charging. The existing charging device joint needs to be improved in the relative pose change adaptability of the robot and the charging device.
SUMMERY OF THE UTILITY MODEL
In order to improve the relative position change adaptability of robot to charging device, do not increase the structural complexity of device simultaneously, the utility model provides a charging device that adaptability is strong, simple structure, need not the drive, connect convenience, reliability height connects. The utility model discloses a plurality of passive joints can adapt to the change of robot and charging device relative position and the change of relative gesture, have very strong adaptability.
In order to realize the purpose, the utility model discloses a technical scheme as follows:
the utility model provides a charging device joint for an inspection robot, which is a serial-type passive joint structure and consists of a charging device male head and a charging device female head, wherein the charging device male head consists of a first passive adjusting mechanism, a second passive adjusting mechanism, a third passive adjusting mechanism and a male head, and the charging device female head consists of a female head mounting plate and a female head assembly;
the male mounting plate is provided with a conical guide device; the male head anode is arranged in the center of the front surface of the male head mounting plate, and the male head cathode is arranged in the groove of the front surface of the male head mounting plate;
the female head is provided with a conical guide device which can be matched with the conical guide device on the male head mounting plate of the male head.
Furthermore, the first passive adjusting mechanism consists of a male joint device mounting plate, a first passive joint mounting seat, a first passive joint shaft, a first passive joint connecting plate, a first passive joint mounting plate and a first passive spring, wherein the male joint device mounting plate is provided with two first passive joint mounting seats, the bottom surface of the first passive joint mounting plate is provided with the first passive joint connecting plate, holes are formed in the first passive joint connecting plate, and the first passive joint shaft is connected with the male joint device mounting plate and the first passive joint mounting plate through the first passive mounting seat and the first passive joint connecting plate; the front of public first device mounting panel and the bottom surface of first passive joint mounting panel all are provided with two sets of shrinkage pools, and first passive spring passes through the shrinkage pool to be installed between public first device mounting panel and first passive joint mounting panel.
Furthermore, the second passive adjusting mechanism consists of a second passive joint mounting seat, a second passive joint shaft, a second passive joint connecting plate, a second passive joint mounting plate and a second passive spring; two second passive joint installation seats are installed on a first passive joint installation plate of the first passive adjusting mechanism, a second passive joint connecting plate is installed on the bottom surface of the second passive joint installation plate, holes are formed in the second passive joint connecting plate, and a second passive joint shaft is connected with the first passive joint installation plate and the second passive joint installation plate through the second passive joint installation seats and the second passive joint connecting plate; two groups of concave holes are formed in the front surface of the first passive joint mounting plate and the bottom surface of the second passive joint mounting plate, and the second passive spring is mounted between the first passive joint mounting plate and the second passive joint mounting plate through the concave holes; a groove is arranged above the second passive joint mounting plate, the whole groove is of a cross structure, and the inside of the groove is circular.
Furthermore, the third passive adjusting mechanism consists of a male head mounting seat, a cover plate and a third passive spring; the male head mounting seat is of a cross-shaped structure as a whole, is internally circular and is matched with a groove on the front surface of a second passive joint mounting plate of the second passive adjusting mechanism, and the diameter of the circle on the male head mounting seat is smaller than that of the circle on the second passive joint mounting plate of the second passive adjusting mechanism; the cross structure of the male head mounting seat is provided with a passive spring, and the cover plate is connected with the male head mounting seat.
Furthermore, the male head consists of an insulating plate, a magnet, a male head mounting plate, a male head anode and a male head cathode; the insulation board is connected with the male head mounting seat of the third passive adjusting mechanism, the bottom surface of the male head mounting plate is provided with a groove, a magnet is arranged in the groove, and the male head mounting plate is directly connected with the insulation board.
Furthermore, the female head of the charging device consists of a female head mounting plate, a female head, a metal ring, a female head positive electrode assembly and a female head negative electrode assembly; the bottom surface of the female head is provided with a groove, the metal ring is arranged in the groove, and the female head is directly connected with the female head mounting plate; the female head positive electrode assembly and the female head negative electrode assembly are spring thimble assemblies.
The utility model has the advantages of as follows:
1. the adaptability is strong. The utility model discloses a plurality of passive joints have 4 adjustable degrees of freedom in certain within range, and in addition, public head and female head all adopt central symmetrical structure, have eliminated the influence of a rotational degree of freedom. Therefore, the utility model discloses can adapt to the change of 5 degrees of freedom in certain within range, the position appearance requirement of robot and charging device when charging to patrolling and examining the robot is lower relatively to have good adaptability.
2. Simple structure and no need of driving. The utility model discloses a serial-type structure, through the structural design assurance device of spring and part under the prerequisite that has stronger adaptability, the structure is simple relatively, simultaneously, does not use drive arrangement, has greatly simplified the complexity of device.
3. The connection is convenient, and the reliability is high. The utility model discloses constitute by installing the public head of charging device on charging device and installing the female head of charging device on the robot, the device structurally is provided with conical guider, connects the convenience. Meanwhile, a magnet is arranged in the charging device male head, and a metal ring is arranged in the charging device female head, so that the effective attraction of the male head and the female head can be ensured. Female first positive pole subassembly and female first negative pole subassembly in the female head of charging device all adopt spring thimble structure, public first reliable contact with female when can guaranteeing to charge, and the reliability of device is high.
4. The application range is wide. The utility model relates to a charging device that adaptability is strong connects can be applied to multiple occasion, for example overhead transmission line patrols and examines robot, tunnel have the rail and patrol and examine robot, mill have the rail and patrol and examine robot etc. have extensive application prospect.
Drawings
Fig. 1 is a schematic view of the structure of the device of the present invention.
Fig. 2 is a schematic structural view of a first passive adjustment mechanism of a male plug of a charging device.
Fig. 3 is a schematic structural view of a second passive adjustment mechanism of a male plug of a charging device.
Fig. 4 is a schematic structural view of a third passive adjustment mechanism of a male connector of a charging device.
Fig. 5 is a schematic diagram of a male plug structure of the charging device.
Fig. 6 is a schematic structural diagram of a female terminal of the charging device.
Fig. 7 is a schematic diagram of an embodiment of the present invention adapting to position change along a vertical direction.
Fig. 8 is a schematic diagram of the present invention according to an embodiment of the present invention, which is adapted to the posture change along the vertical direction.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, which are not intended to limit the present invention.
Example 1
As shown in fig. 1, the utility model discloses constitute by public head 1 of charging device and the female head 2 of charging device. The charging device male head 1 is provided with a plurality of passive joints and mainly comprises a first passive adjusting mechanism 3, a second passive adjusting mechanism 4, a third passive adjusting mechanism 5 and a male head 6, and the charging device female head 2 mainly comprises a female head mounting plate 7 and a female head assembly 8.
As shown in fig. 2, the first passive adjustment mechanism 3 is composed of a male device mounting plate 11, a first passive joint mounting base 12, a first passive joint shaft 13, a first passive joint connecting plate 14, a first passive joint mounting plate 15, and a first passive spring 16. Two first passive joint installation seats 12 are installed on the male joint installation plate 11, a first passive joint connection plate 14 is installed on the bottom surface of the first passive joint installation plate 15 and is provided with a hole, and a first passive joint shaft 13 is connected with the male joint installation plate 11 and the first passive joint installation plate 15 through the first passive joint installation seats 12 and the first passive joint connection plate 14. The front of the male joint device mounting plate 11 and the bottom surface of the first passive joint mounting plate 15 are both provided with two groups of first concave holes 17, and the first passive spring 16 is mounted between the male joint device mounting plate 11 and the first passive joint mounting plate 15 through the concave holes 17.
As shown in fig. 3, the second passive adjustment mechanism 4 is composed of a second passive joint mounting base 18, a second passive joint shaft 19, a second passive joint connecting plate 20, a second passive joint mounting plate 21, and a second passive spring 22. Two second passive joint installation seats 18 are installed on the first passive joint installation plate 15 of the first passive adjusting mechanism 3, a second passive joint connection plate 20 is installed on the bottom surface of the second passive joint installation plate 21 and provided with holes, and a second passive joint shaft 19 is connected with the first passive joint installation plate 15 and the second passive joint installation plate 21 through the second passive joint installation seats 18 and the second passive joint connection plate 20. The front of the first passive joint mounting plate 15 and the bottom surface of the second passive joint mounting plate 21 are both provided with two groups of second concave holes 23, and the second passive spring 22 is mounted between the first passive joint mounting plate 15 and the second passive joint mounting plate 21 through the concave holes 23. A special groove is arranged above the second passive joint mounting plate 21, the groove is of a cross structure, and the inner part of the groove is circular.
As shown in fig. 4, the third passive adjustment mechanism 5 is composed of a male mounting seat 24, a cover plate 25 and a third passive spring 26. Public first mount pad 24 adopts special structural design, for cruciform structure, inside circular, with the passive joint mounting panel 21 of second of passive guiding mechanism 4 groove fit on the front, and the circular diameter ratio on public first mount pad 24 is little than the circular on the passive joint mounting panel 21 of second of passive guiding mechanism 4. A passive spring 26 is mounted on the cross-shaped structure of the male mounting seat 24, and a cover plate 25 is coupled with the male mounting seat 24.
As shown in fig. 5, the male head 6 mainly comprises an insulating plate 27, a magnet 28, a male head mounting plate 29, a male head anode 30 and a male head cathode 31. The insulating plate 27 is connected with the male mounting seat 24 of the third passive adjusting mechanism 5, the bottom surface of the male mounting plate 29 is provided with a groove 32, a magnet 28 is arranged in the groove, and the male mounting plate 29 is directly connected with the insulating plate 27. The male mounting plate 29 is designed in a special structure and is provided with a conical guide device. The male anode 30 is installed at the center of the front surface of the male mounting plate 29, and the male cathode 31 is installed in the groove 33 of the front surface of the male mounting plate 29.
As shown in fig. 6, the female head 2 of the charging device is composed of a female head mounting plate 7, a female head 34, a metal ring 35, a female head positive electrode assembly 36 and a female head negative electrode assembly 37. The bottom surface of the female head 34 is provided with a groove 39, the metal ring 35 is arranged in the groove 39, and the female head 34 is directly connected with the female head mounting plate 7. The female head 34 is designed with a special structure and is provided with a conical guide device which can be matched with the conical guide device on the male head mounting plate 29 of the male head 6. The female positive electrode assembly 36 and the female negative electrode assembly 37 are pogo pin assemblies.
The utility model discloses the theory of operation:
the utility model discloses have a plurality of passive joints, can adapt to the relative position change and the relative gesture change between charging device and the robot in certain extent.
As shown in fig. 7, when the charging device male head 1 and the charging device female head 2 have correct relative postures and a certain deviation in relative position in the vertical direction, the male head 6 is driven to move in the vertical direction under the guidance of the tapered guide device on the male head mounting plate 29 of the male head 6 of the charging device male head 1, the male head mounting seat 24 on the third passive adjustment mechanism 5 is driven to move in the vertical direction relative to the second passive joint mounting plate 21 of the second passive adjustment mechanism 4, and the passive spring 26 on the third passive adjustment mechanism 5 is compressed, so that the relative distance between the charging device male head 1 and the charging device female head 2 in the vertical direction is reduced until the relative distance between the charging device male head 1 and the charging device female head 2 in the vertical direction is zero. The male charging device head 1 and the female charging device head 2 are engaged with each other under the attraction of the magnet 28 of the male head 6.
As shown in fig. 8, when the relative position of the male charging device 1 and the female charging device 2 is correct and there is a certain deviation in the relative posture along the vertical direction, under the guidance of the tapered guide device of the male head mounting plate 29 of the male head 6 of the male charging device 1, the male head 6, the third passive adjustment mechanism 5, the second passive adjustment mechanism 4, the first passive joint mounting plate 15 and the first passive joint connecting plate 14 of the first passive adjustment mechanism 3 are driven to rotate around the second passive shaft 13 of the first passive adjustment mechanism 3, so that the posture deviation of the male charging device 1 and the female charging device 2 along the vertical direction is reduced until the deviation is zero. The male charging device head 1 and the female charging device head 2 are engaged with each other under the attraction of the magnet 28 of the male head 6. In the process, derivative motion of the third passive adjusting mechanism 5 and the second passive adjusting mechanism 4 can exist.
The working principle of the charging device is similar to that of the case of fig. 7 and that of fig. 8 when there is a certain deviation in the relative position or a certain deviation in the relative posture between the charging device male head 1 and the charging device female head 2.
Claims (6)
1. The utility model provides a charging device connects for patrolling and examining robot which characterized in that: the serial passive joint structure is composed of a charging device male head (1) and a charging device female head (2), wherein the charging device male head (1) is composed of a first passive adjusting mechanism (3), a second passive adjusting mechanism (4), a third passive adjusting mechanism (5) and a male head (6), and the charging device female head (2) is composed of a female head mounting plate (7) and a female head assembly (8);
the male mounting plate (29) is provided with a conical guide device; the male head anode (30) is arranged at the center of the front surface of the male head mounting plate (29), and the male head cathode (31) is arranged in the groove (33) of the front surface of the male head mounting plate (29);
the female head (34) is provided with a conical guide device which can be matched with the conical guide device on the male head mounting plate (29) of the male head (6).
2. The charging device joint for the inspection robot according to claim 1, wherein: the first passive adjusting mechanism (3) consists of a male joint device mounting plate (11), a first passive joint mounting seat (12), a first passive joint shaft (13), a first passive joint connecting plate (14), a first passive joint mounting plate (15) and a first passive spring (16), wherein the male joint device mounting plate (11) is provided with two first passive joint mounting seats (12), the bottom surface of the first passive joint mounting plate (15) is provided with the first passive joint connecting plate (14) with holes, and the first passive joint shaft (13) is connected with the male joint device mounting plate (11) and the first passive joint mounting plate (15) through the first passive joint mounting seat (12) and the first passive joint connecting plate (14); the front surface of the male joint device mounting plate (11) and the bottom surface of the first passive joint mounting plate (15) are respectively provided with two groups of concave holes (17), and the first passive spring (16) is mounted between the male joint device mounting plate (11) and the first passive joint mounting plate (15) through the concave holes (17).
3. The charging device joint for the inspection robot according to claim 1, wherein: the second passive adjusting mechanism (4) consists of a second passive joint mounting seat (18), a second passive joint shaft (19), a second passive joint connecting plate (20), a second passive joint mounting plate (21) and a second passive spring (22); two second passive joint installation seats (18) are installed on a first passive joint installation plate (15) of the first passive adjusting mechanism (3), a second passive joint connection plate (20) is installed on the bottom surface of the second passive joint installation plate (21) and provided with a hole, and a second passive joint shaft (19) is connected with the first passive joint installation plate (15) and the second passive joint installation plate (21) through the second passive joint installation seats (18) and the second passive joint connection plate (20); two groups of concave holes (23) are formed in the front face of the first passive joint mounting plate (15) and the bottom face of the second passive joint mounting plate (21), and the second passive spring (22) is mounted between the first passive joint mounting plate (15) and the second passive joint mounting plate (21) through the concave holes (23); the upper part of the second passive joint mounting plate (21) is provided with a groove which is wholly of a cross structure and internally circular.
4. The charging device joint for the inspection robot according to claim 1, wherein: the third passive adjusting mechanism (5) consists of a male head mounting seat (24), a cover plate (25) and a third passive spring (26); the male head mounting seat (24) is of a cross-shaped structure as a whole, is round inside, is matched with a groove on the front surface of the second passive joint mounting plate (21) of the second passive adjusting mechanism (4), and the diameter of the round on the male head mounting seat (24) is smaller than that of the round on the second passive joint mounting plate (21) of the second passive adjusting mechanism (4); a passive spring (26) is arranged on the cross-shaped structure of the male mounting seat (24), and the cover plate (25) is connected with the male mounting seat (24).
5. The charging device joint for the inspection robot according to claim 1, wherein: the male head (6) consists of an insulating plate (27), a magnet (28), a male head mounting plate (29), a male head anode (30) and a male head cathode (31); the insulation board (27) is connected with the male head mounting seat (24) of the third passive adjusting mechanism (5), the bottom surface of the male head mounting board (29) is provided with a groove (32), a magnet (28) is installed in the groove, and the male head mounting board (29) is directly connected with the insulation board (27).
6. The charging device joint for the inspection robot according to claim 1, wherein: the charging device female head (2) consists of a female head mounting plate (7), a female head (34), a metal ring (35), a female head positive electrode assembly (36) and a female head negative electrode assembly (37); a groove (39) is formed in the bottom surface of the female head (34), the metal ring (35) is installed in the groove (39), and the female head (34) is directly connected with the female head installation plate (7); the female head positive electrode component (36) and the female head negative electrode component (37) are spring ejector pin components.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020289488.5U CN211376994U (en) | 2020-03-11 | 2020-03-11 | Charging device joint for inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020289488.5U CN211376994U (en) | 2020-03-11 | 2020-03-11 | Charging device joint for inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211376994U true CN211376994U (en) | 2020-08-28 |
Family
ID=72155797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020289488.5U Expired - Fee Related CN211376994U (en) | 2020-03-11 | 2020-03-11 | Charging device joint for inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211376994U (en) |
-
2020
- 2020-03-11 CN CN202020289488.5U patent/CN211376994U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102904307B (en) | Charging butt joint and separation device for inspection robot and solar charging base station | |
| CN108879229B (en) | Flexible rifle and stake of charging that charges | |
| CN202111310U (en) | Floating connector | |
| CN110112674A (en) | A kind of autonomous crusing robot of transmission line of electricity based on flight obstacle detouring and obstacle-detouring method | |
| CN106972597A (en) | A kind of rail mounted unmanned plane automatic charge device | |
| CN211376994U (en) | Charging device joint for inspection robot | |
| CN109228896B (en) | Adaptive contact connecting mechanism and charging bow thereof | |
| CN111648584A (en) | Inspection robot based on climbing frame | |
| CN108215921B (en) | Stereo garage and charging connection device | |
| CN214849150U (en) | Robot charging and docking device | |
| CN206283060U (en) | A kind of mobile robot omnidirectional charging device | |
| CN105690404A (en) | Manipulator device at tail end of double-foot robot for power transmission line | |
| CN218536370U (en) | Track inspection unmanned aerial vehicle relay platform | |
| CN218783595U (en) | Mobile charging device matched with inspection robot | |
| CN210404218U (en) | Electric power inspection robot auxiliary guide mechanism and reliable charging device that charges | |
| CN208723572U (en) | A kind of automatic charge device | |
| CN215989609U (en) | Electric mounting and dismounting insulation device for grounding ring | |
| CN213239732U (en) | Side slope soil body pressure monitoring device | |
| CN214643597U (en) | Track type inspection robot | |
| CN115276176A (en) | Dustproof charging device for inspection robot | |
| CN112454378A (en) | Charger robot in multi-joint super-redundancy snakelike mechanical arm structure form | |
| CN112937348B (en) | Chain type telescopic charging device for vehicle charging | |
| CN210442683U (en) | Novel nuclear detection mobile robot device | |
| CN217170979U (en) | Fixed wing unmanned aerial vehicle camera support frame | |
| CN213484071U (en) | Aviation plug that leakproofness is good |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200828 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |